Related papers: Multi-robot persistent surveillance with connectiv…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with limited field of view (FOV) sensors: adaptive tuning of interaction gains and rejection of sensor attacks. First, a typical…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…
Multi-Robot-Arm Motion Planning (M-RAMP) is a challenging problem featuring complex single-agent planning and multi-agent coordination. Recent advancements in extending the popular Conflict-Based Search (CBS) algorithm have made large…
We consider the spatial classification problem for monitoring using data collected by a coordinated team of mobile robots. Such classification problems arise in several applications including search-and-rescue and precision agriculture.…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
It will be increasingly common for robots to operate in cluttered human-centered environments such as homes, workplaces, and hospitals, where the robot is often tasked to maintain perception constraints, such as monitoring people or…
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persistent coverage is a variant of traditional coverage where…
Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communication delays and interferences. In nuclear inspection, robots…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
A graph environment must be explored by a collection of mobile robots. Some of the robots, a priori unknown, may turn out to be unreliable. The graph is weighted and each node is assigned a deadline. The exploration is successful if each…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
To operate with limited sensor horizons in unpredictable environments, autonomous robots use a receding-horizon strategy to plan trajectories, wherein they execute a short plan while creating the next plan. However, creating safe,…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Unmanned Aerial Vehicles (UAVs) or drones are increasingly used for urban applications like traffic monitoring and construction surveys. Autonomous navigation allows drones to visit waypoints and accomplish activities as part of their…